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Sensor-based planning for planar two-link rigid robot
- Issue Date
- Jan-2013
- Publisher
- IEEE Computer Society
- Keywords
- generalized Voronoi diagram; motion planning; roadmap; sensor-based planning; Two-link rigid bodies
- Citation
- 2013 IEEE Conference Anthology, ANTHOLOGY 2013, pp.1 - 4
- Indexed
- SCOPUS
- Journal Title
- 2013 IEEE Conference Anthology, ANTHOLOGY 2013
- Start Page
- 1
- End Page
- 4
- ISSN
- 0000-0000
- Abstract
- This paper presents a new roadmap which is called the two-link generalized Voronoi graph (two-link GVG). This roadmap can be used to explore an unknown planar workspace and built a roadmap in an unknown configuration space 2 × T2 for a planar two-link rigid bodies. This method is based on the rod generalized Voronoi graph (rod-GVG). The two-link GVG can be constructed using only sensor-provided information. Furthermore, this approach is worth drawing on the experience of any other highly articulated robots. © 2013 IEEE.
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Related Researcher
- Lee, Ji Yeong
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)